Intermediaries for Robots and Robotic End-effectors for Orthopedic Surgery

Abstract

Intermediaries for a robot and robotic end effector for orthopedic surgery operatively couple a surgical robot to an end effector of such a robot. The intermediaries therefor comprise means to absorb and/or counteract reactionary forces from the end effector (which end effector may, as an example, be a surgical tool) and to reduce forces that would otherwise be imparted on the robot. An intermediary comprises a sleeve of shock-absorbing material that couples the robot and end effector. Another intermediary comprises an isolation connector that provides for an indirect coupling between the robot and the end effector and includes an absorption means for absorption or dispersion of reactionary forces from the end effector.

Claims

1. An intermediary for at least one of an orthopedic surgery robot and robot end-effector, the intermediary comprising an absorption means, said absorption means capable of receiving a force imparted by the end-effector and capable of reducing the impartation of the force from the end-effector upon the robot.

2. The intermediary of claim 1, wherein the absorption means comprises a sleeve of shock-absorbing material that is disposed on at least part of the end-effector.

3. The intermediary of claim 1, wherein the peak force imparted by the end-effector is reduced by at least 50%.

4. The intermediary of claim 1, wherein the time duration of the end-effector's force impartation is extended to reduce the force imparted on the robot.

5. An intermediary for a robot end-effector for orthopedic surgery, said intermediary comprising an isolation connector, said isolation connector capable of indirectly coupling with an orthopedic surgery robot and robot end-effector, said isolation connector capable of absorbing a force of the end-effector that would otherwise be imparted on the robot.

6. The isolation connector of claim 5, wherein said connector comprises a plurality of couplings with at least one of the robot and end-effector.

7. The isolation coupling of claim 5, said connector comprising an absorbing material that is disposed on at least a portion of at least one of the robot and end-effector.

8. The connector of claim 5, wherein said connector extends the time duration over which a force is imparted.

Description

DESCRIPTION OF THE DRAWINGS

[0012] The advantages and features of the present disclosure will become better understood with reference to the following detailed description and claims taken in conjunction with the accompanying drawings, wherein like elements are identified with like symbols, in which:

[0013] FIG. 1 shows a force isolating sleeve that absorbs reactionary forces that would otherwise be imparted onto a robot in a direct-connect surgical implement in accordance with the disclosure herein.

[0014] FIG. 2 shows a prior-art direct connection between a robot and a surgical tool as well as, in accordance with an exemplary embodiment of the present disclosure, an isolation connection between a robot and surgical tool.

[0015] FIG. 3 shows a plot of force vs time (impulse plot) that exemplifies reactionary force reduction in accordance with an exemplary embodiment of the present disclosure.

[0016] FIG. 4 shows a sample calculation of reactionary force reduction by expanding the time period over which that force is applied in accordance with an exemplary embodiment of the present disclosure.

DETAILED DESCRIPTION OF THE DISCLOSURE

[0017] The exemplary embodiments described herein detail for illustrative purposes are subject to many variations in structure and design. It should be emphasized, however, that the present disclosure is not limited to a particular surgical tool, robot, robotic end effector, or any intermediaries as shown and described. That is, it is understood that various omissions and substitutions of equivalents are contemplated as circumstances may suggest or render expedient, but these are intended to cover the application or implementation without departing from the spirit or scope of the claims of the present disclosure. The terms “first,” “second,” and the like, herein do not denote any order, quantity, or importance, but rather are used to distinguish one element from another, and the terms “a” and “an” herein do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item.

[0018] The present disclosure provides for intermediaries for a robot and robotic end effector for orthopedic surgery. An intermediary in this context may be understood to be a component of or attachment B to a surgical robot A that operatively couples the robot A to an end effector C. The intermediaries therefor comprise means to absorb and/or counteract (also referred to herein as “absorption means”) reactionary forces from the end effector (such as a surgical tool) and to reduce forces that would otherwise be imparted on a robot. As used herein, “reactionary force” may include linear or rotary shock or impulse, and/or force reflected back to the robot, for example.

[0019] That is, existing configurations have the robot physically and otherwise directly attached to the end effector, such that the reactionary force from an end effector is consequently imparted onto the surgical robot. As disclosed herein the intermediary or intermediaries obviates this direct attachment between the surgical robot and the end effector, thus preventing the direct impartation of reactionary forces on the surgical robot and, in fact, significantly reducing if not entirely eliminating such reactionary forces from acting on the surgical robot. For purposes of the present disclosure, it will be apparent that the end effector may be a surgical tool, for example.

[0020] In an embodiment, and as shown in FIG. 1, the absorption means 100 comprise a shock absorbing member or means 100a for absorbing force that emanates from an end effector C, for example.

[0021] In an embodiment and as shown in FIG. 2, the intermediary 200 comprises an isolation (or isolated) connector 200a between a robot A and an end effector C for reducing the force of the end effector on the robot A. This isolation connector 200a is preferably configured (e.g., tuned) with respect to the end effector such that the isolation connector 200a prevents registration loss during surgery. In an embodiment, the movement of the isolation connector 200a and/or end effector C can be incorporated into the robot A to allow for self-compensation and minimize loss of registration. The isolation connector is configured to reduce or eliminate action of reactionary forces on the robot. In an embodiment, isolation connector 200a comprises a sleeve of shock absorbent material. In another embodiment, isolation connector comprises a dashpot/spring configuration.

[0022] In an embodiment, and as shown in FIG. 1, the shock-absorbing member 100a comprises a sleeve that couples a robot A and robot end-effector C. In said embodiment, the sleeve 100a is capable of receiving at least a portion of the robot A and at least a portion of the robotic end-effector C. Said sleeve 100a may be made from a material (such as Sorbothane) that may absorb reactionary forces from a surgical tool. In an embodiment, the aforementioned sleeve 100a fully absorbs the tool's reactionary force (such that no such force is transmitted to robot A) and recovers to its initial position or configuration in a set amount of time (in the case of impacting) before the next impact by the tool. The sleeve 100a may be removably attached to the robotic end effector C and/or robot A for sterilization and reuse after a procedure. In an embodiment the sleeve 100a is a disposable and therefore single use only.

[0023] In an embodiment, the reactionary force that is seen from the impact by end effector C may be reduced by extending the time period (as shown in FIGS. 3 and 4) over which the thrown member impacts a surface. This occurs due to the law of conservation of momentum (m.sub.1v.sub.1=m.sub.2v.sub.2) which can also be written in terms of impulse as F.sub.1Δt.sub.1=F.sub.2Δt.sub.2 (where F is force and Δt is the time period over which that force occurs). The time period (Δt) can be extended by using a viscoelastic material such as Sorbothane, such as in the form of a sleeve 100a that surrounds the robot A and/or robotic end effector C.

[0024] In an embodiment, isolation connector 200a that connects a robotic end-effector C (such as a surgical tool) and a robot A provides for an indirect but still secure operative coupling between the robot A and the end effector C. The isolation connector 200a also provides an absorption means 202 for absorption or dispersion of reactionary forces from the end effector C. In an embodiment, absorption means 202 of the isolation connector 200a comprises a shock absorbing material such as urethane (including but not necessarily limited to sorbothane and viscose), for example. In a still further embodiment the absorption means 202 of isolation connector 200a comprises dampening materials, and in a further embodiment, said dampening materials have a coefficient of restitution (COR) of less than 0.5. In an embodiment, isolation connector 200a comprises a sleeve of shock-absorbing material.

[0025] In another embodiment, the isolation connector 200a comprises a plurality of connections 210 between and amongst the end effector C and surgical robot A such that there is no direct physical connection between the robot A and end effector C and the reactionary force of the end effector C upon the robot A is consequently minimized.

[0026] The present disclosure offers the following advantages: reduction of reactionary forces from a surgical tool upon a robot, which force reduction results in less wear and tear on the components of the robot as well as improved performance by the robot due to the reduction in the instances of loss of registration of the robot upon the surgical site.

[0027] The foregoing descriptions of specific embodiments of the present disclosure have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the present disclosure to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiment was chosen and described in order to best explain the principles of the present disclosure and its practical application, to thereby enable others skilled in the art to best utilize the disclosure and various embodiments with various modifications as are suited to the particular use contemplated.